基于分层控制的移动机器人最优运动规划

OPTIMAL MOTION PLANNING FOR MOBILE ROBOTS IN A DYNAMIC ENVIRONMENT WITH MULTIPLE MOVING OBSTACLES USING HIERARCHICAL OPTIMAL CONTROL

摘要: 研究移动机器人在带有多移动障碍物的动态环境中的运动规划问题．基于分层最优控制理论，提出了一种新的运动规划方法来解决移动机器人的导航与避障问题．仿真实例证明了该方法的有效性．

Abstract: This paper addresses motion planning for mobile robots in a dynamic environment with multiple moving obstacles.A novel motion planning strategy based on hierarchical optimal control theory is presented for mobile robots to solve the problem of navigation and obstacle avoidance.The simulation results are presented to demonstrate its efficiency.